Lexus: 01 IS300 side marker replace-how-to?

Anyone know how to replace the side marker bulbs on a 2001 IS300? I looked
through the owners' manual, but it does not mention how to do-it-yourself.
It wants me to bring the car in the dealership. Isn't that stupid to bring
the car in and wait an hour or maybe even longer just to replace a couple
side marker bulbs and get charged more than what the bulbs worth?

If any one knows how to replace these bulbs, please post your step by step
instruction here.
Thank you.